ROS1 Publish Raw Transform Tree

This node publishes a user-defined transformation between any two coordinate frames as a ROS1 Transform Tree

Installation

To use this node enable omni.isaac.ros_bridge in the Extension Manager.

Inputs

Name

Type

Descripton

Default

Child Frame Id (inputs:childFrameId)

string

Child frameId for ROS1 TF message

base_link

Exec In (inputs:execIn)

execution

The input execution port

None

Node Namespace (inputs:nodeNamespace)

string

Namespace of ROS1 Node, prepends any published/subscribed topic by the node namespace

Parent Frame Id (inputs:parentFrameId)

string

Parent frameId for ROS1 TF message

odom

Queue Size (inputs:queueSize)

uint64

The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent

10

Rotation (inputs:rotation)

quatd[4]

Rotation as a quaternion (IJKR)

[0.0, 0.0, 0.0, 1.0]

Timestamp (inputs:timeStamp)

double

ROS1 Timestamp in seconds

0.0

Topic Name (inputs:topicName)

string

Name of ROS1 Topic

/tf

Translation (inputs:translation)

vectord[3]

Translation vector in meters

[0.0, 0.0, 0.0]

Metadata

Name

Value

Unique ID

omni.isaac.ros_bridge.ROS1PublishRawTransformTree

Version

1

Extension

omni.isaac.ros_bridge

Icon

ogn/icons/omni.isaac.ros_bridge.ROS1PublishRawTransformTree.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

ROS1 Publish Raw Transform Tree

Categories

isaacRos:publisher

Generated Class Name

OgnROS1PublishRawTransformTreeDatabase

Python Module

omni.isaac.ros_bridge